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机器人的灵活性是机器人运动学中比较重要的一个性能;本文利用几何构图法和数值分析方法对一种可变形多足移动机器人腿部机构的灵活性进行了分析研究;研究证明了可变形多足移动机器人腿部机构在平面内的灵活度;并通过计算空间自由度,对可变形移动机器人腿部机构在空间内的灵活性进行了初步研究;通过解算几何关系,给出仿真结果;最后依据灵活性分析结果对腿部机构的工作性能和逆解存在状况进行了分析研究。
The flexibility of the robot is a more important performance in the robot kinematics. In this paper, the geometrical composition method and the numerical analysis method are used to analyze the flexibility of the leg mechanism of a deformable multi-legged mobile robot. The research shows that the deformable The flexibility of legged mechanism of mobile robot in the plane is calculated. The flexibility of leg mechanism of deformable mobile robot in space is studied by calculating the degree of freedom in space. The simulation results are obtained by solving the geometric relation. Finally, based on the results of flexibility analysis, the working performance of the leg mechanism and the existence of the inverse solution were analyzed.